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      <td class="subheader-left"><a href="matlab:open trprint">View code for trprint</a></td>
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<h1>trprint</h1><p><span class="helptopic">Compact display of homogeneous transformation</span></p><p>
<span style="color:red">trprint</span>(<strong>T</strong>, <strong>options</strong>) displays the homogoneous transform in a compact
single-line format.  If <strong>T</strong> is a homogeneous transform sequence then each
element is printed on a separate line.

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<p>
<strong>s</strong> = <span style="color:red">trprint</span>(<strong>T</strong>, <strong>options</strong>) as above but returns the string.

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<p>
<span style="color:red">trprint</span> <strong>T</strong>  is the command line form of above, and displays in RPY format.

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<h2>Options</h2>
<table class="list">
  <tr><td style="white-space: nowrap;" class="col1"> 'rpy'</td> <td>display with rotation in roll/pitch/yaw angles (default)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> 'euler'</td> <td>display with rotation in ZYX Euler angles</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> 'angvec'</td> <td>display with rotation in angle/vector format</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> 'radian'</td> <td>display angle in radians (default is degrees)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1">'fmt',  f</td> <td>use format string f for all numbers, (default %g)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1">'label', l</td> <td>display the text before the transform</td></tr>
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<h2>Examples</h2>
<pre style="width: 90%%;" class="examples">
>>&nbsp;trprint(T2)
t&nbsp;=&nbsp;(0,0,0),&nbsp;RPY&nbsp;=&nbsp;(-122.704,65.4084,-8.11266)&nbsp;deg
</pre>
<pre style="width: 90%%;" class="examples">
>>&nbsp;trprint(T1,&nbsp;'label',&nbsp;'A')
</pre>
<pre style="width: 90%%;" class="examples">
A:t&nbsp;=&nbsp;(0,0,0),&nbsp;RPY&nbsp;=&nbsp;(-0,0,-0)&nbsp;deg
</pre>
<h2>See also</h2>
<p>
<a href="matlab:doc tr2eul">tr2eul</a>, <a href="matlab:doc tr2rpy">tr2rpy</a>, <a href="matlab:doc tr2angvec">tr2angvec</a></p>
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<p class="copy">&copy; 1990-2012 Peter Corke.</p>
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